Wednesday, January 21, 2015

In the last post we've learned how to translate the motion text file. Now let's look into the pose values representing the position of the joints.

I created a new motion file with a pose,
"L shoulder pitch" => 10 degree and "L shoulder roll" => -5 degree.

Let's look at the motion file.

The slider number of "L shoulder pitch" is 23, and "L shoulder roll" is 22, so we will look into the 22nd and 23rd numbers.
You can check them by having your cursor over the slider, or by looking at pose slider property.

In the slider property, there is a value for "unit corresponding 1 (deg)".
In this case, the unit value is 218.
2180 / 218 = 10
Wow, we got the value representation of the "shoulder pitch"!
How about the shoulder roll???
-15042 / 218 = -69
... not quite right...

We are missing one more thing to take into a count here.
When we work with those robot, we always do "Calibration" of the servo motors, and those calibration data will be saved and used for calculating the position of the servos as well.
In your robot project folder, there is a init file called "medit_defpose.ini".

Let's take a look at "medit_defpose.ini" file!

Under "Axisenable", our slider 23 is listed at 18th, and the "Defpose_Value" representation at 18th is "0x0000". For slider 22, it's 0xc980.

Friday, January 16, 2015

If you open one of your RM2 motion file, you will see lots of numbers and chars etc...

I added comments in the pose name so that i can easily see what the blocks are in the editor.

Here is what you see in the text editor.

Let's look at them!

Line1: _MOTION_FORMAT:[ POSEDEF_V1R4 ]

I'm guessing those are the definitions for the type of motion file and identifying what formatting it is.

Line2: _ENABLE_AXIS:[62]

this is the definition for number of enabled axis(slider bars)?

Line4: _MOTION_INFO:[[]]-[50]-[10]-[9]-[0]-[1]-[-1]

Line5: _STARTMOT:

Those lines represents the "Start Block".

[[]]: this is the name of the pose, since its start block and does not have name, it's being empty.

[50]-[10]: this is the position of the pose block. take a look at other "MOTION_INFO" it has the same values as (x, y) noted in the name of the pose blocks.

[9]: this is some value associated with the "arrow ->" going from the start block to the next. if you change the position of the "dot" on the arrow, the value will change.

[0]: Not 100% sure about this but if we follow the lest of the blocks, this should be the value for the second arrow, which does not exist on the start block. I would say keep it "0" for the start block.

[1]: This is the identification of the block which the arrow is connected to.

_STARTMOT: this is the identification for start block.

[-1]: This is the indication of the block which the second arrow is connected to. there is no second arrow on the start block, so its showing up "-1".

<!> Notice that this pose is connected to the second pose and mysteriously the identification indicated here says "3". Let's keep eye on this value to see if we can figure out how this work...

_POSE:[50]: the value 50 is the number of the steps. You can chek it by looking at other pose blocks.

[0x0000,0x0aa5,0x3e97 ...: Those values are the value representing the "slider", you can check them by changing one and see the difference.

Line10: _MOTION_INFO:[[ END ]]-[50]-[736]-[16]-[46]-[-1]-[-1]

Line11: _ENDMOT:

Those lines represents the end block.... Well, why it's showing up after the first pose block???

The order of the pose blocks listed in the motion file is the order of the blocks created. When you create a new file, it will automatically creates "Start", "Pose0", and "End" blocks. Therefore, the end block comes before the second pose block. That's my guess...

Tuesday, April 30, 2013

This Post is for the KTX Users who received KTX pre-assembled.
Please have your RobovieMaker2 manual ready in case you need more information.
http://www.kumotek.com/download/manual/RM2manual2_eng.pdf

Once you have had fun with your robot, you would wonder how you can change the animations on those robots. well, it's pretty simple using our software called RobovieMaker2.
Here is a little tips to get you easy start!

When you start RobovieMaker2 for the first time, it will not be able to locate your robot project file.
Just create one from the scratch!
Please make sure that you are selecting correct robot model.
Also, do NOT connect your robot yet, and do NOT check "initialize CPU board".

Click "Create", and now you have a new robot project file.
Let's connect your robot now!
Connect usb cable and click on connection button on RM2.

When you connect your KTX humanoid robot to RobovieMaker2, it will shows a dialogue box asking for "creating new project".

Normally you can select your robot project that you've been using for the robot...
Since the robot does not come with the original Robot Project file, you cannot chose that option.

Just select "No" on the dialogue.
It will establish connection and load all the CPU configuration from the robot (Vsrc003), without flashing the memory.

Now, click on the transfer button.
Transfer window "Mode switching and adjusting..." will show up.
Click on the transfer button "Transfer the preferences to CPU board".
This will load all the settings to the CPU board, your robot now has the same name as specified in your project file.

Tuesday, August 21, 2012

The omnidirectional sensor is an image sensor that can observe 360 degree at a time. The surrounding scenery is reflected to the omnidirectional mirror, and it corrects image data from the camera mounted looking up facing the mirror.

<Installation of software and driver>

Step 0: Make sure your camera is not connected onto your
PC.

Step 1: Insert CD into your PC. It will
start setup program. If not, open the content inside the CD and run
“Setup.exe” under “ODS/camera/software” folder.